Surgical Robotics System Integration and Teleoperation

Overview

Research on integrating various sensing modalities and control interfaces with the da Vinci Research Kit.

• photo-acoustic probes integration with dVRK PSM:

• sEMG biofeedback for teleoperation

Key Contributions

• Developed a novel teleoperation approach using sEMG biofeedback signals
• Integrated a photo-acoustic probe with a dVRK instrument and installed on the dVRK Patient Side Manipulator (PSM)
• Constructed the kinematic model for the custom instrument to enable teleoperation and script-based control
• Developed the synchronized autonomous scanning system using ROS communication for image overlay
• Enabled teleoperation for dVRK PSMs with multiple common haptic devices, such as Phantom Omni and Razer Hydra controller, subsequently utilized in a dVRK-based AR measurement system
• Developed the teleoperation pipeline that enabled participants to remotely operate the dVRK PSM during WPI’s 2022 TouchTomorrow event.